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BO
Dependencies: X_NUCLEO_IHM01A1
Fork of V0_Button_two_Buttonfff by
main.cpp@28:3f17a4152bcf, 2017-03-01 (annotated)
- Committer:
- Davidroid
- Date:
- Wed Mar 01 13:32:24 2017 +0000
- Revision:
- 28:3f17a4152bcf
- Parent:
- 24:8cb3c4ad055f
- Child:
- 29:526970c1d998
Fitting mbed coding style.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Davidroid | 0:e6a49a092e2a | 1 | /** |
Davidroid | 0:e6a49a092e2a | 2 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 3 | * @file main.cpp |
Davidroid | 17:aae1446c67f4 | 4 | * @author Davide Aliprandi, STMicroelectronics |
Davidroid | 0:e6a49a092e2a | 5 | * @version V1.0.0 |
Davidroid | 0:e6a49a092e2a | 6 | * @date October 14th, 2015 |
Davidroid | 17:aae1446c67f4 | 7 | * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1 |
Davidroid | 3:02d9ec4f88b2 | 8 | * Motor Control Expansion Board: control of 2 motors. |
Davidroid | 0:e6a49a092e2a | 9 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 10 | * @attention |
Davidroid | 0:e6a49a092e2a | 11 | * |
Davidroid | 0:e6a49a092e2a | 12 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
Davidroid | 0:e6a49a092e2a | 13 | * |
Davidroid | 0:e6a49a092e2a | 14 | * Redistribution and use in source and binary forms, with or without modification, |
Davidroid | 0:e6a49a092e2a | 15 | * are permitted provided that the following conditions are met: |
Davidroid | 0:e6a49a092e2a | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
Davidroid | 0:e6a49a092e2a | 17 | * this list of conditions and the following disclaimer. |
Davidroid | 0:e6a49a092e2a | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
Davidroid | 0:e6a49a092e2a | 19 | * this list of conditions and the following disclaimer in the documentation |
Davidroid | 0:e6a49a092e2a | 20 | * and/or other materials provided with the distribution. |
Davidroid | 0:e6a49a092e2a | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
Davidroid | 0:e6a49a092e2a | 22 | * may be used to endorse or promote products derived from this software |
Davidroid | 0:e6a49a092e2a | 23 | * without specific prior written permission. |
Davidroid | 0:e6a49a092e2a | 24 | * |
Davidroid | 0:e6a49a092e2a | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
Davidroid | 0:e6a49a092e2a | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
Davidroid | 0:e6a49a092e2a | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
Davidroid | 0:e6a49a092e2a | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
Davidroid | 0:e6a49a092e2a | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
Davidroid | 0:e6a49a092e2a | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
Davidroid | 0:e6a49a092e2a | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
Davidroid | 0:e6a49a092e2a | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
Davidroid | 0:e6a49a092e2a | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
Davidroid | 0:e6a49a092e2a | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
Davidroid | 0:e6a49a092e2a | 35 | * |
Davidroid | 0:e6a49a092e2a | 36 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 37 | */ |
Davidroid | 0:e6a49a092e2a | 38 | |
Davidroid | 0:e6a49a092e2a | 39 | |
Davidroid | 0:e6a49a092e2a | 40 | /* Includes ------------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 41 | |
Davidroid | 0:e6a49a092e2a | 42 | /* mbed specific header files. */ |
Davidroid | 0:e6a49a092e2a | 43 | #include "mbed.h" |
Davidroid | 0:e6a49a092e2a | 44 | |
Davidroid | 0:e6a49a092e2a | 45 | /* Helper header files. */ |
Davidroid | 0:e6a49a092e2a | 46 | #include "DevSPI.h" |
Davidroid | 0:e6a49a092e2a | 47 | |
Davidroid | 0:e6a49a092e2a | 48 | /* Component specific header files. */ |
Davidroid | 0:e6a49a092e2a | 49 | #include "l6474_class.h" |
Davidroid | 0:e6a49a092e2a | 50 | |
Davidroid | 0:e6a49a092e2a | 51 | |
Davidroid | 0:e6a49a092e2a | 52 | /* Definitions ---------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 53 | |
Davidroid | 24:8cb3c4ad055f | 54 | /* Number of steps. */ |
Davidroid | 9:a9e51320aee4 | 55 | #define STEPS 3200 |
Davidroid | 0:e6a49a092e2a | 56 | |
Davidroid | 24:8cb3c4ad055f | 57 | /* Delay in milliseconds. */ |
Davidroid | 24:8cb3c4ad055f | 58 | #define DELAY_1 2000 |
Davidroid | 24:8cb3c4ad055f | 59 | #define DELAY_2 6000 |
Davidroid | 24:8cb3c4ad055f | 60 | #define DELAY_3 8000 |
Davidroid | 24:8cb3c4ad055f | 61 | |
Davidroid | 24:8cb3c4ad055f | 62 | /* Speed in pps (Pulses Per Second). |
Davidroid | 24:8cb3c4ad055f | 63 | In Full Step mode: 1 pps = 1 step/s). |
Davidroid | 24:8cb3c4ad055f | 64 | In 1/N Step Mode: N pps = 1 step/s). */ |
Davidroid | 24:8cb3c4ad055f | 65 | #define SPEED_1 2400 |
Davidroid | 24:8cb3c4ad055f | 66 | #define SPEED_2 1200 |
Davidroid | 24:8cb3c4ad055f | 67 | |
Davidroid | 0:e6a49a092e2a | 68 | |
Davidroid | 0:e6a49a092e2a | 69 | /* Variables -----------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 70 | |
Davidroid | 0:e6a49a092e2a | 71 | /* Motor Control Component. */ |
Davidroid | 3:02d9ec4f88b2 | 72 | L6474 *motor1; |
Davidroid | 3:02d9ec4f88b2 | 73 | L6474 *motor2; |
Davidroid | 0:e6a49a092e2a | 74 | |
Davidroid | 0:e6a49a092e2a | 75 | |
Davidroid | 0:e6a49a092e2a | 76 | /* Main ----------------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 77 | |
Davidroid | 0:e6a49a092e2a | 78 | int main() |
Davidroid | 0:e6a49a092e2a | 79 | { |
Davidroid | 8:cec4c2c03a27 | 80 | /*----- Initialization. -----*/ |
Davidroid | 8:cec4c2c03a27 | 81 | |
Davidroid | 0:e6a49a092e2a | 82 | /* Initializing SPI bus. */ |
Davidroid | 0:e6a49a092e2a | 83 | DevSPI dev_spi(D11, D12, D13); |
Davidroid | 0:e6a49a092e2a | 84 | |
Davidroid | 9:a9e51320aee4 | 85 | /* Initializing Motor Control Components. */ |
Davidroid | 5:a0268a435bb1 | 86 | motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi); |
Davidroid | 16:810667a9f31f | 87 | motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi); |
Davidroid | 28:3f17a4152bcf | 88 | if (motor1->Init() != COMPONENT_OK) { |
Davidroid | 14:fcd452b03d1a | 89 | exit(EXIT_FAILURE); |
Davidroid | 28:3f17a4152bcf | 90 | } |
Davidroid | 28:3f17a4152bcf | 91 | if (motor2->Init() != COMPONENT_OK) { |
Davidroid | 14:fcd452b03d1a | 92 | exit(EXIT_FAILURE); |
Davidroid | 28:3f17a4152bcf | 93 | } |
Davidroid | 0:e6a49a092e2a | 94 | |
Davidroid | 0:e6a49a092e2a | 95 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 96 | printf("Motor Control Application Example for 2 Motors\r\n\n"); |
Davidroid | 0:e6a49a092e2a | 97 | |
Davidroid | 8:cec4c2c03a27 | 98 | |
Davidroid | 8:cec4c2c03a27 | 99 | /*----- Moving. -----*/ |
Davidroid | 8:cec4c2c03a27 | 100 | |
Davidroid | 8:cec4c2c03a27 | 101 | /* Printing to the console. */ |
Davidroid | 9:a9e51320aee4 | 102 | printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS); |
Davidroid | 8:cec4c2c03a27 | 103 | |
Davidroid | 8:cec4c2c03a27 | 104 | /* Moving N steps in the forward direction. */ |
Davidroid | 9:a9e51320aee4 | 105 | motor1->Move(StepperMotor::FWD, STEPS >> 1); |
Davidroid | 9:a9e51320aee4 | 106 | motor2->Move(StepperMotor::FWD, STEPS); |
Davidroid | 8:cec4c2c03a27 | 107 | |
Davidroid | 8:cec4c2c03a27 | 108 | /* Waiting while the motor is active. */ |
Davidroid | 8:cec4c2c03a27 | 109 | motor1->WaitWhileActive(); |
Davidroid | 8:cec4c2c03a27 | 110 | motor2->WaitWhileActive(); |
Davidroid | 8:cec4c2c03a27 | 111 | |
Davidroid | 8:cec4c2c03a27 | 112 | /* Getting current position. */ |
Davidroid | 8:cec4c2c03a27 | 113 | int position1 = motor1->GetPosition(); |
Davidroid | 8:cec4c2c03a27 | 114 | int position2 = motor2->GetPosition(); |
Davidroid | 8:cec4c2c03a27 | 115 | |
Davidroid | 8:cec4c2c03a27 | 116 | /* Printing to the console. */ |
Davidroid | 8:cec4c2c03a27 | 117 | printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); |
Davidroid | 8:cec4c2c03a27 | 118 | |
Davidroid | 8:cec4c2c03a27 | 119 | /* Waiting 2 seconds. */ |
Davidroid | 24:8cb3c4ad055f | 120 | wait_ms(DELAY_1); |
Davidroid | 8:cec4c2c03a27 | 121 | |
Davidroid | 8:cec4c2c03a27 | 122 | |
Davidroid | 8:cec4c2c03a27 | 123 | /*----- Moving. -----*/ |
Davidroid | 8:cec4c2c03a27 | 124 | |
Davidroid | 8:cec4c2c03a27 | 125 | /* Printing to the console. */ |
Davidroid | 9:a9e51320aee4 | 126 | printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS); |
Davidroid | 8:cec4c2c03a27 | 127 | |
Davidroid | 8:cec4c2c03a27 | 128 | |
Davidroid | 8:cec4c2c03a27 | 129 | /* Moving N steps in the backward direction. */ |
Davidroid | 9:a9e51320aee4 | 130 | motor1->Move(StepperMotor::BWD, STEPS >> 1); |
Davidroid | 9:a9e51320aee4 | 131 | motor2->Move(StepperMotor::BWD, STEPS); |
Davidroid | 8:cec4c2c03a27 | 132 | |
Davidroid | 8:cec4c2c03a27 | 133 | /* Waiting while the motor is active. */ |
Davidroid | 8:cec4c2c03a27 | 134 | motor1->WaitWhileActive(); |
Davidroid | 8:cec4c2c03a27 | 135 | motor2->WaitWhileActive(); |
Davidroid | 8:cec4c2c03a27 | 136 | |
Davidroid | 8:cec4c2c03a27 | 137 | /* Getting current position. */ |
Davidroid | 8:cec4c2c03a27 | 138 | position1 = motor1->GetPosition(); |
Davidroid | 8:cec4c2c03a27 | 139 | position2 = motor2->GetPosition(); |
Davidroid | 8:cec4c2c03a27 | 140 | |
Davidroid | 8:cec4c2c03a27 | 141 | /* Printing to the console. */ |
Davidroid | 8:cec4c2c03a27 | 142 | printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); |
Davidroid | 8:cec4c2c03a27 | 143 | printf("--> Setting Home.\r\n"); |
Davidroid | 8:cec4c2c03a27 | 144 | |
Davidroid | 8:cec4c2c03a27 | 145 | /* Setting the current position to be the home position. */ |
Davidroid | 8:cec4c2c03a27 | 146 | motor1->SetHome(); |
Davidroid | 8:cec4c2c03a27 | 147 | motor2->SetHome(); |
Davidroid | 8:cec4c2c03a27 | 148 | |
Davidroid | 8:cec4c2c03a27 | 149 | /* Waiting 2 seconds. */ |
Davidroid | 24:8cb3c4ad055f | 150 | wait_ms(DELAY_1); |
Davidroid | 8:cec4c2c03a27 | 151 | |
Davidroid | 8:cec4c2c03a27 | 152 | |
Davidroid | 8:cec4c2c03a27 | 153 | /*----- Going to a specified position. -----*/ |
Davidroid | 8:cec4c2c03a27 | 154 | |
Davidroid | 8:cec4c2c03a27 | 155 | /* Printing to the console. */ |
Davidroid | 9:a9e51320aee4 | 156 | printf("--> Going to position: M1 %d, M2 %d.\r\n", STEPS, STEPS >> 1); |
Davidroid | 8:cec4c2c03a27 | 157 | |
Davidroid | 8:cec4c2c03a27 | 158 | /* Requesting to go to a specified position. */ |
Davidroid | 9:a9e51320aee4 | 159 | motor1->GoTo(STEPS); |
Davidroid | 9:a9e51320aee4 | 160 | motor2->GoTo(STEPS >> 1); |
Davidroid | 8:cec4c2c03a27 | 161 | |
Davidroid | 8:cec4c2c03a27 | 162 | /* Waiting while the motor is active. */ |
Davidroid | 8:cec4c2c03a27 | 163 | motor1->WaitWhileActive(); |
Davidroid | 8:cec4c2c03a27 | 164 | motor2->WaitWhileActive(); |
Davidroid | 8:cec4c2c03a27 | 165 | |
Davidroid | 8:cec4c2c03a27 | 166 | /* Getting current position. */ |
Davidroid | 8:cec4c2c03a27 | 167 | position1 = motor1->GetPosition(); |
Davidroid | 8:cec4c2c03a27 | 168 | position2 = motor2->GetPosition(); |
Davidroid | 8:cec4c2c03a27 | 169 | |
Davidroid | 8:cec4c2c03a27 | 170 | /* Printing to the console. */ |
Davidroid | 8:cec4c2c03a27 | 171 | printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); |
Davidroid | 8:cec4c2c03a27 | 172 | |
Davidroid | 8:cec4c2c03a27 | 173 | /* Waiting 2 seconds. */ |
Davidroid | 24:8cb3c4ad055f | 174 | wait_ms(DELAY_1); |
Davidroid | 8:cec4c2c03a27 | 175 | |
Davidroid | 8:cec4c2c03a27 | 176 | |
Davidroid | 8:cec4c2c03a27 | 177 | /*----- Going Home. -----*/ |
Davidroid | 8:cec4c2c03a27 | 178 | |
Davidroid | 8:cec4c2c03a27 | 179 | /* Printing to the console. */ |
Davidroid | 8:cec4c2c03a27 | 180 | printf("--> Going Home.\r\n"); |
Davidroid | 8:cec4c2c03a27 | 181 | |
Davidroid | 8:cec4c2c03a27 | 182 | /* Requesting to go to home. */ |
Davidroid | 8:cec4c2c03a27 | 183 | motor1->GoHome(); |
Davidroid | 8:cec4c2c03a27 | 184 | motor2->GoHome(); |
Davidroid | 8:cec4c2c03a27 | 185 | |
Davidroid | 8:cec4c2c03a27 | 186 | /* Waiting while the motor is active. */ |
Davidroid | 8:cec4c2c03a27 | 187 | motor1->WaitWhileActive(); |
Davidroid | 8:cec4c2c03a27 | 188 | motor2->WaitWhileActive(); |
Davidroid | 8:cec4c2c03a27 | 189 | |
Davidroid | 8:cec4c2c03a27 | 190 | /* Getting current position. */ |
Davidroid | 8:cec4c2c03a27 | 191 | position1 = motor1->GetPosition(); |
Davidroid | 8:cec4c2c03a27 | 192 | position2 = motor2->GetPosition(); |
Davidroid | 0:e6a49a092e2a | 193 | |
Davidroid | 8:cec4c2c03a27 | 194 | /* Printing to the console. */ |
Davidroid | 8:cec4c2c03a27 | 195 | printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); |
Davidroid | 8:cec4c2c03a27 | 196 | |
Davidroid | 8:cec4c2c03a27 | 197 | /* Waiting 2 seconds. */ |
Davidroid | 24:8cb3c4ad055f | 198 | wait_ms(DELAY_1); |
Davidroid | 8:cec4c2c03a27 | 199 | |
Davidroid | 8:cec4c2c03a27 | 200 | |
Davidroid | 8:cec4c2c03a27 | 201 | /*----- Running. -----*/ |
Davidroid | 8:cec4c2c03a27 | 202 | |
Davidroid | 8:cec4c2c03a27 | 203 | /* Printing to the console. */ |
Davidroid | 8:cec4c2c03a27 | 204 | printf("--> M1 running backward, M2 running forward.\r\n"); |
Davidroid | 8:cec4c2c03a27 | 205 | |
Davidroid | 8:cec4c2c03a27 | 206 | /* Requesting to run backward. */ |
Davidroid | 8:cec4c2c03a27 | 207 | motor1->Run(StepperMotor::BWD); |
Davidroid | 8:cec4c2c03a27 | 208 | motor2->Run(StepperMotor::FWD); |
Davidroid | 8:cec4c2c03a27 | 209 | |
Davidroid | 8:cec4c2c03a27 | 210 | /* Waiting until delay has expired. */ |
Davidroid | 24:8cb3c4ad055f | 211 | wait_ms(DELAY_2); |
Davidroid | 8:cec4c2c03a27 | 212 | |
Davidroid | 8:cec4c2c03a27 | 213 | /* Getting current speed. */ |
Davidroid | 8:cec4c2c03a27 | 214 | int speed1 = motor1->GetSpeed(); |
Davidroid | 8:cec4c2c03a27 | 215 | int speed2 = motor2->GetSpeed(); |
Davidroid | 8:cec4c2c03a27 | 216 | |
Davidroid | 8:cec4c2c03a27 | 217 | /* Printing to the console. */ |
Davidroid | 8:cec4c2c03a27 | 218 | printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2); |
Davidroid | 8:cec4c2c03a27 | 219 | |
Davidroid | 8:cec4c2c03a27 | 220 | /*----- Increasing the speed while running. -----*/ |
Davidroid | 8:cec4c2c03a27 | 221 | |
Davidroid | 8:cec4c2c03a27 | 222 | /* Printing to the console. */ |
Davidroid | 8:cec4c2c03a27 | 223 | printf("--> Increasing the speed while running.\r\n"); |
Davidroid | 8:cec4c2c03a27 | 224 | |
Davidroid | 24:8cb3c4ad055f | 225 | /* Increasing the speed. */ |
Davidroid | 24:8cb3c4ad055f | 226 | motor1->SetMaxSpeed(SPEED_1); |
Davidroid | 24:8cb3c4ad055f | 227 | motor2->SetMaxSpeed(SPEED_1); |
Davidroid | 8:cec4c2c03a27 | 228 | |
Davidroid | 8:cec4c2c03a27 | 229 | /* Waiting until delay has expired. */ |
Davidroid | 24:8cb3c4ad055f | 230 | wait_ms(DELAY_2); |
Davidroid | 8:cec4c2c03a27 | 231 | |
Davidroid | 8:cec4c2c03a27 | 232 | /* Getting current speed. */ |
Davidroid | 8:cec4c2c03a27 | 233 | speed1 = motor1->GetSpeed(); |
Davidroid | 8:cec4c2c03a27 | 234 | speed2 = motor2->GetSpeed(); |
Davidroid | 8:cec4c2c03a27 | 235 | |
Davidroid | 8:cec4c2c03a27 | 236 | /* Printing to the console. */ |
Davidroid | 8:cec4c2c03a27 | 237 | printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2); |
Davidroid | 8:cec4c2c03a27 | 238 | |
Davidroid | 8:cec4c2c03a27 | 239 | |
Davidroid | 8:cec4c2c03a27 | 240 | /*----- Decreasing the speed while running. -----*/ |
Davidroid | 0:e6a49a092e2a | 241 | |
Davidroid | 8:cec4c2c03a27 | 242 | /* Printing to the console. */ |
Davidroid | 8:cec4c2c03a27 | 243 | printf("--> Decreasing the speed while running.\r\n"); |
Davidroid | 8:cec4c2c03a27 | 244 | |
Davidroid | 24:8cb3c4ad055f | 245 | /* Decreasing the speed. */ |
Davidroid | 24:8cb3c4ad055f | 246 | motor1->SetMaxSpeed(SPEED_2); |
Davidroid | 24:8cb3c4ad055f | 247 | motor2->SetMaxSpeed(SPEED_2); |
Davidroid | 8:cec4c2c03a27 | 248 | |
Davidroid | 8:cec4c2c03a27 | 249 | /* Waiting until delay has expired. */ |
Davidroid | 24:8cb3c4ad055f | 250 | wait_ms(DELAY_3); |
Davidroid | 8:cec4c2c03a27 | 251 | |
Davidroid | 8:cec4c2c03a27 | 252 | /* Getting current speed. */ |
Davidroid | 8:cec4c2c03a27 | 253 | speed1 = motor1->GetSpeed(); |
Davidroid | 8:cec4c2c03a27 | 254 | speed2 = motor2->GetSpeed(); |
Davidroid | 8:cec4c2c03a27 | 255 | |
Davidroid | 8:cec4c2c03a27 | 256 | /* Printing to the console. */ |
Davidroid | 8:cec4c2c03a27 | 257 | printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2); |
Davidroid | 8:cec4c2c03a27 | 258 | |
Davidroid | 8:cec4c2c03a27 | 259 | |
Davidroid | 8:cec4c2c03a27 | 260 | /*----- Requiring hard-stop while running. -----*/ |
Davidroid | 8:cec4c2c03a27 | 261 | |
Davidroid | 8:cec4c2c03a27 | 262 | /* Printing to the console. */ |
Davidroid | 8:cec4c2c03a27 | 263 | printf("--> Requiring hard-stop while running.\r\n"); |
Davidroid | 8:cec4c2c03a27 | 264 | |
Davidroid | 8:cec4c2c03a27 | 265 | /* Requesting to immediatly stop. */ |
Davidroid | 8:cec4c2c03a27 | 266 | motor1->HardStop(); |
Davidroid | 8:cec4c2c03a27 | 267 | motor2->HardStop(); |
Davidroid | 8:cec4c2c03a27 | 268 | |
Davidroid | 8:cec4c2c03a27 | 269 | /* Waiting while the motor is active. */ |
Davidroid | 8:cec4c2c03a27 | 270 | motor1->WaitWhileActive(); |
Davidroid | 8:cec4c2c03a27 | 271 | motor2->WaitWhileActive(); |
Davidroid | 8:cec4c2c03a27 | 272 | |
Davidroid | 8:cec4c2c03a27 | 273 | /* Waiting 2 seconds. */ |
Davidroid | 24:8cb3c4ad055f | 274 | wait_ms(DELAY_1); |
Davidroid | 8:cec4c2c03a27 | 275 | |
Davidroid | 8:cec4c2c03a27 | 276 | |
Davidroid | 8:cec4c2c03a27 | 277 | /*----- Infinite Loop. -----*/ |
Davidroid | 8:cec4c2c03a27 | 278 | |
Davidroid | 8:cec4c2c03a27 | 279 | /* Printing to the console. */ |
Davidroid | 8:cec4c2c03a27 | 280 | printf("--> Infinite Loop...\r\n"); |
Davidroid | 8:cec4c2c03a27 | 281 | |
Davidroid | 8:cec4c2c03a27 | 282 | /* Setting the current position to be the home position. */ |
Davidroid | 8:cec4c2c03a27 | 283 | motor1->SetHome(); |
Davidroid | 8:cec4c2c03a27 | 284 | motor2->SetHome(); |
Davidroid | 8:cec4c2c03a27 | 285 | |
Davidroid | 8:cec4c2c03a27 | 286 | /* Infinite Loop. */ |
Davidroid | 28:3f17a4152bcf | 287 | while(true) { |
Davidroid | 8:cec4c2c03a27 | 288 | /* Requesting to go to a specified position. */ |
Davidroid | 9:a9e51320aee4 | 289 | motor1->GoTo(STEPS >> 1); |
Davidroid | 9:a9e51320aee4 | 290 | motor2->GoTo(- (STEPS >> 1)); |
Davidroid | 3:02d9ec4f88b2 | 291 | |
Davidroid | 0:e6a49a092e2a | 292 | /* Waiting while the motor is active. */ |
Davidroid | 3:02d9ec4f88b2 | 293 | motor1->WaitWhileActive(); |
Davidroid | 3:02d9ec4f88b2 | 294 | motor2->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 295 | |
Davidroid | 0:e6a49a092e2a | 296 | /* Requesting to go to a specified position. */ |
Davidroid | 9:a9e51320aee4 | 297 | motor1->GoTo(- (STEPS >> 1)); |
Davidroid | 9:a9e51320aee4 | 298 | motor2->GoTo(STEPS >> 1); |
Davidroid | 0:e6a49a092e2a | 299 | |
Davidroid | 0:e6a49a092e2a | 300 | /* Waiting while the motor is active. */ |
Davidroid | 3:02d9ec4f88b2 | 301 | motor1->WaitWhileActive(); |
Davidroid | 3:02d9ec4f88b2 | 302 | motor2->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 303 | } |
Davidroid | 0:e6a49a092e2a | 304 | } |